Automatically determining extrinsic parameters of modular edge computing devices

Abstract

Implementations are disclosed for automatic commissioning, configuring, calibrating, and/or coordinating sensor-equipped modular edge computing devices that are mountable on agricultural vehicles. In various implementations, neighbor modular edge computing device(s) that are mounted on a vehicle nearest a given modular edge computing device may be detected based on sensor signal(s) generated by contactless sensor(s) of the given modular edge computing device. Based on the detected neighbor modular edge computing device(s), an ordinal position of the given modular edge computing device may be determined relative to a plurality of modular edge computing devices mounted on the agricultural vehicle. Based on the sensor signal(s), distance(s) to the neighbor modular edge computing device(s) may be determined. Extrinsic parameters of the given modular edge computing device may be determined based on the ordinal position of the given modular edge computing device and the distance(s).

What is claimed is: 
     
       1. A method for automatically determining extrinsic parameters of a given modular edge computing device of a plurality of modular edge computing devices mounted on a vehicle, the method implemented using one or more processors and comprising:
 detecting, based on one or more sensor signals generated by one or more contactless sensors of the given modular edge computing device, one or more neighbor modular edge computing devices of the plurality of modular edge computing devices that are mounted on the vehicle nearest the given modular edge computing device; 
 based the detected one or more neighbor modular edge computing devices, determining an ordinal position of the given modular edge computing device relative to the plurality of modular edge computing devices; 
 determining, based on one or more time-of-flight sensor signals of the sensor signals, one or more distances to the one or more neighbor modular edge computing devices; and 
 determining the extrinsic parameters of the given modular edge computing device based on the ordinal position of the given modular edge computing device and the one or more distances. 
 
     
     
       2. The method of  claim 1 , wherein one or more of the contactless sensors comprises a vision sensor. 
     
     
       3. The method of  claim 2 , wherein the sensor signal generated by the vision sensor is indicative of a fiducial marker on a surface of one or more of the neighbor modular edge computing devices. 
     
     
       4. The method of  claim 1 , wherein determining the extrinsic parameters includes detecting an absolute orientation of the given modular edge computing device based on one or more of the sensor signals or one or more other sensor signals. 
     
     
       5. The method of  claim 1 , wherein determining the extrinsic parameters includes determining a relative orientation of the given modular edge computing device based on an observed orientation of one or more of the neighbor modular edge computing devices. 
     
     
       6. The method of  claim 1 , further comprising:
 generating one or more instructions to alter an orientation or position of the given modular edge computing device based on one or more of the extrinsic parameters; and 
 causing output to be provided at one or more output devices, wherein the output conveys the one or more instructions. 
 
     
     
       7. The method of  claim 1 , wherein one or more of the contactless sensors comprises a laser. 
     
     
       8. The method of  claim 1 , wherein the vehicle comprises a tractor, and the plurality of modular edge computing devices are mounted along a boom affixed to the tractor. 
     
     
       9. The method of  claim 1 , wherein the vehicle comprises a center pivot, and the plurality of modular edge computing devices are mounted along the center pivot. 
     
     
       10. A modular edge computing device comprising:
 one or more contactless sensors; and 
 circuitry to: 
 identify, from a plurality of modular edge computing devices arranged along an axis on an agricultural vehicle, and based on one or more sensor signals generated by one or more of the contactless sensors, one or more neighbor modular edge computing devices that are mounted nearest the modular edge computing device on the agricultural vehicle; 
 based the detected one or more neighbor modular edge computing devices, determine an ordinal position of the modular edge computing device relative to the plurality of modular edge computing devices; 
 determine, based on one or more time-of-flight sensor signals of the sensor signals, one or more distances to the one or more neighbor modular edge computing devices; and 
 determine one or more extrinsic parameters of the modular edge computing device based on the ordinal position and the one or more distances. 
 
     
     
       11. The modular edge computing device of  claim 10 , further comprising instructions to:
 determine a relative orientation of the modular edge computing device based on an observed orientation of one or more of the neighbor modular edge computing devices; and 
 set one or more intrinsic parameters of one or more of the contactless sensors based on the ordinal position of the modular edge computing device and the relative orientation. 
 
     
     
       12. The modular edge computing device of  claim 10 , wherein one or more of the contactless sensors comprises a vision sensor, and the sensor signal generated by the vision sensor is indicative of a fiducial marker on a surface of one or more of the neighbor modular edge computing devices. 
     
     
       13. The modular edge computing device of  claim 10 , wherein the circuitry is further configured to:
 generate one or more instructions to alter an orientation or position of the given modular edge computing device based on one or more of the extrinsic parameters; and 
 cause output to be provided at one or more output devices, wherein the output conveys the one or more instructions. 
 
     
     
       14. A non-transitory computer-readable medium for automatically determining extrinsic parameters of a given modular edge computing device of a plurality of modular edge computing devices mounted on a vehicle, the medium comprising instructions that, in response to execution of the instructions by a processor of the given modular edge computing device, cause the processor to:
 detect, based on one or more sensor signals generated by one or more contactless sensors of the given modular edge computing device, one or more neighbor modular edge computing devices of the plurality of modular edge computing devices that are mounted on the vehicle nearest the given modular edge computing device; 
 based the detected one or more neighbor modular edge computing devices, determine an ordinal position of the given modular edge computing device relative to the plurality of modular edge computing devices; 
 determine, based on one or more time-of-flight sensor signals of the sensor signals, one or more distances to the one or more neighbor modular edge computing devices; and 
 determine the extrinsic parameters of the given modular edge computing device based on the ordinal position of the given modular edge computing device and the one or more distances. 
 
     
     
       15. The non-transitory computer-readable medium of  claim 14 , wherein one or more of the contactless sensors comprises a vision sensor. 
     
     
       16. The non-transitory computer-readable medium of  claim 15 , wherein the sensor signal generated by the vision sensor is indicative of a fiducial marker on a surface of one or more of the neighbor modular edge computing devices. 
     
     
       17. The non-transitory computer-readable medium of  claim 14 , further comprising instructions to detect an absolute orientation of the given modular edge computing device based on one or more of the sensor signals or one or more other sensor signals. 
     
     
       18. The non-transitory computer-readable medium of  claim 1 , further comprising instructions to determine a relative orientation of the given modular edge computing device based on an observed orientation of one or more of the neighbor modular edge computing devices.